final project by : mohamed soliman ostalab robotic arm
TRANSCRIPT
![Page 1: Final project by : Mohamed Soliman Ostalab Robotic Arm](https://reader037.vdocuments.us/reader037/viewer/2022103006/56649e755503460f94b75df1/html5/thumbnails/1.jpg)
Click icon to add pictureFinal project by :
Mohamed Soliman
Ostalab
Robotic Arm
![Page 2: Final project by : Mohamed Soliman Ostalab Robotic Arm](https://reader037.vdocuments.us/reader037/viewer/2022103006/56649e755503460f94b75df1/html5/thumbnails/2.jpg)
Click icon to add picture
• Introduction to robotics
• History of robotics
• Aim of the project
• Tools required in building
• steps of building
• writing the code ( Programming ).
• Wiring when using
• Final picture and video
Content :
![Page 3: Final project by : Mohamed Soliman Ostalab Robotic Arm](https://reader037.vdocuments.us/reader037/viewer/2022103006/56649e755503460f94b75df1/html5/thumbnails/3.jpg)
Click icon to add picture
It is the science of designing or building an
applications of robots ,simply “ it is the
study of robots”
Why is robotics needed ????? Speed
Can work in hazardous tempreture
Can work repetitive tasks
Can do work with high accuracy
What is the rebotics :
![Page 4: Final project by : Mohamed Soliman Ostalab Robotic Arm](https://reader037.vdocuments.us/reader037/viewer/2022103006/56649e755503460f94b75df1/html5/thumbnails/4.jpg)
First use of the word robotics by
the writer “Karel Capek”
(1890_1938 ) in his play R.U.R
(rossum’s universal
robots .published in 1920 . The
play begins in a factory that
make artificial people called
robots ….Capek was reportedly
several times a candidate for
the nobel prize for his work
HISTORY :
Click icon to add picture
![Page 5: Final project by : Mohamed Soliman Ostalab Robotic Arm](https://reader037.vdocuments.us/reader037/viewer/2022103006/56649e755503460f94b75df1/html5/thumbnails/5.jpg)
Click icon to add picture
AIM OF THE PROJECT
I have to use all the experience that i had gained in three months to build my project ( CAD - Circuit design - 3D printing - Programming - Molding & Casting ).
Most robotic arms are very expensive but if you make it by yourself it will be very cheap with little budget about 1000 L.E.
![Page 6: Final project by : Mohamed Soliman Ostalab Robotic Arm](https://reader037.vdocuments.us/reader037/viewer/2022103006/56649e755503460f94b75df1/html5/thumbnails/6.jpg)
2 Acrylic sheets.
6 Servo motors.
6 Potentiometers.
Arduino UNO.
Breadboard
Power supply.
Power switch.
Capacitors 10uF.
Some screws as your design needs.
Some wires.
TOOLS
![Page 7: Final project by : Mohamed Soliman Ostalab Robotic Arm](https://reader037.vdocuments.us/reader037/viewer/2022103006/56649e755503460f94b75df1/html5/thumbnails/7.jpg)
FIRST IN DESIGN BODY SEARCH GOOGLE THIS THE REFERENCE
STEPS OF DESIGN
![Page 8: Final project by : Mohamed Soliman Ostalab Robotic Arm](https://reader037.vdocuments.us/reader037/viewer/2022103006/56649e755503460f94b75df1/html5/thumbnails/8.jpg)
I used Autodesk Inventor to make my design, first i made single parts, i tried as i can to make the same design.
These parts i made on Laser Cutter MachineThen make .DWG file and put these parts on your sheet as shown :
Then export .DXF file and insert it to Laser Cutter Machine ..And the parts after cutting on acrylic sheet...
![Page 9: Final project by : Mohamed Soliman Ostalab Robotic Arm](https://reader037.vdocuments.us/reader037/viewer/2022103006/56649e755503460f94b75df1/html5/thumbnails/9.jpg)
I saw it was hard to fix servo motors so i made some supports to hold them with the arm, and i designed them on Inventor, then i extracted real objects from 3D printer .
I made the parts of gripper on Laser Cutter Machine as shown
![Page 10: Final project by : Mohamed Soliman Ostalab Robotic Arm](https://reader037.vdocuments.us/reader037/viewer/2022103006/56649e755503460f94b75df1/html5/thumbnails/10.jpg)
First thing mount servo motors to the first disk and join them to the base
![Page 11: Final project by : Mohamed Soliman Ostalab Robotic Arm](https://reader037.vdocuments.us/reader037/viewer/2022103006/56649e755503460f94b75df1/html5/thumbnails/11.jpg)
Then join the first disk to the base
Now we finished prepairing the parts required to make the robotic arm.
![Page 12: Final project by : Mohamed Soliman Ostalab Robotic Arm](https://reader037.vdocuments.us/reader037/viewer/2022103006/56649e755503460f94b75df1/html5/thumbnails/12.jpg)
Then join supports to the servo motor and join it to the second disk ..
![Page 13: Final project by : Mohamed Soliman Ostalab Robotic Arm](https://reader037.vdocuments.us/reader037/viewer/2022103006/56649e755503460f94b75df1/html5/thumbnails/13.jpg)
Then assemble the fan of the servo to the second disk and join it above the servo motor by screw ..
![Page 14: Final project by : Mohamed Soliman Ostalab Robotic Arm](https://reader037.vdocuments.us/reader037/viewer/2022103006/56649e755503460f94b75df1/html5/thumbnails/14.jpg)
Then let's construct the first arm, assemble the arm as shown in
next picture it's very easy and connect the arm to the servo motor.
![Page 15: Final project by : Mohamed Soliman Ostalab Robotic Arm](https://reader037.vdocuments.us/reader037/viewer/2022103006/56649e755503460f94b75df1/html5/thumbnails/15.jpg)
Then let's make the second arm, assemble the arm as shown and connect a servo motor to the arm, then connect the arm2 with arm1 by the servo motor as shown ..
![Page 16: Final project by : Mohamed Soliman Ostalab Robotic Arm](https://reader037.vdocuments.us/reader037/viewer/2022103006/56649e755503460f94b75df1/html5/thumbnails/16.jpg)
Then you will use supports to attach two servo motors one is small which will hold the gripper (end effector) and another is bigger which is connected to the second arm.
![Page 17: Final project by : Mohamed Soliman Ostalab Robotic Arm](https://reader037.vdocuments.us/reader037/viewer/2022103006/56649e755503460f94b75df1/html5/thumbnails/17.jpg)
Now we have to construct the gripper to make its require mechanism, we assemble every part with each other as shown in the next pictures ..
![Page 18: Final project by : Mohamed Soliman Ostalab Robotic Arm](https://reader037.vdocuments.us/reader037/viewer/2022103006/56649e755503460f94b75df1/html5/thumbnails/18.jpg)
And now connect the gripper with small servo motor ..
![Page 19: Final project by : Mohamed Soliman Ostalab Robotic Arm](https://reader037.vdocuments.us/reader037/viewer/2022103006/56649e755503460f94b75df1/html5/thumbnails/19.jpg)
So i added these 3D printed parts to the back side of servos and go through to the next plate and support the two sides.
And the final shape of the robotic arm is completed but it still missing the end effector and the other sides of servos are free as shown in next picture that can make the system unstable.
![Page 20: Final project by : Mohamed Soliman Ostalab Robotic Arm](https://reader037.vdocuments.us/reader037/viewer/2022103006/56649e755503460f94b75df1/html5/thumbnails/20.jpg)
Click icon to add picture
Connect potentiometers to analog pins in arduino and
the side legs with 5V & GND.
Servo motor has three wires ( yellow - red - brown ).
Connect yellow wires of servos to PWM pins in arduino (
3 , 5 , 6 , 9 , 10 , 11 , 12 ).
Connect red wires with the red wire of the power supply
which gives 5V & 30A that can run all servo motors
Connect brown wires to the GND.
Make common GND for arduino and power supply.
Put 3 capacitors 10uF in parallel with servo motors to
make less noise.
Now let's test the code and run the robotic arm ..
Have fun :))))))))
Now let’s make wiring
![Page 21: Final project by : Mohamed Soliman Ostalab Robotic Arm](https://reader037.vdocuments.us/reader037/viewer/2022103006/56649e755503460f94b75df1/html5/thumbnails/21.jpg)
![Page 22: Final project by : Mohamed Soliman Ostalab Robotic Arm](https://reader037.vdocuments.us/reader037/viewer/2022103006/56649e755503460f94b75df1/html5/thumbnails/22.jpg)
And this is a nice picture of the robotic arm ..